Kinematics and Dynamics Analysis of Tensegrity Based Bionic Knee Joint Mechanism

Exoskeleton mechanisms based on bionics principle have the vast potential for future development. A bionic knee joint which depended on tensegrity structure is researched and formed in this paper. Besides, the kinematics and dynamics characters of the bionic knee are investigated for further analysis. Moreover, for the purpose of demonstrating the bionics performance of the bionic knee joint tensegrity structure, based on the limitation functionality of knee patella, the limitation performance of the bionic knee is achieved through mechanical structure design. Eventually, for realizing a high-efficiency control purpose, a proportion integration differentiation (PID) algorithm is utilized to establish the controller. Through the simulation results, it can be shown the accuracy and calculation speed of the proposed PID controller.